Mechatronic System Design Applied to Double Inverted Pendulum with Flywheel Actuator

2009 ◽  
Vol 147-149 ◽  
pp. 272-277
Author(s):  
Lukáš Bláha ◽  
Miloš Schlegel
Keyword(s):  
System Design ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Loop System ◽  
Main Issue ◽  
Physical Parameters ◽  
Stabilization Problem ◽  
Closed Loop System ◽  
Mechatronic System

In this paper we study the stabilization problem of double inverted pendulum via wlywheel actuator. The main issue of the paper is whether such system can be stabilized in real conditions or not. It is shown that the answer strongly depends on the structural (geometric and physical) parameters of the system. The paper gives the procedure for optimizing these parameters under specified conditions to obtain the most robust closed loop system.

scholarly journals Exponential Stability of the Monotubular Heat Exchanger Equation with Time Delay in Boundary Observation

2017 ◽  
Vol 2017 ◽  
pp. 1-8
Author(s):  
Xue-Lian Jin ◽  
Yang Zhang ◽  
Fu Zheng ◽  
Bao-zhu Guo
Keyword(s):  
Heat Exchanger ◽  
Time Delay ◽  
Exponential Stability ◽  
Closed Loop ◽  
Abstract Cauchy Problem ◽  
Loop System ◽  
Physical Parameters ◽  
Closed Loop System ◽  
Close Loop System ◽  
Resolvent Estimates

The exponential stability of the monotubular heat exchanger equation with boundary observation possessing a time delay and inner control was investigated. Firstly, the close-loop system was translated into an abstract Cauchy problem in the suitable state space. A uniformly bounded C0-semigroup generated by the close-loop system, which implies that the unique solution of the system exists, was shown. Secondly, the spectrum configuration of the closed-loop system was analyzed and the eventual differentiability and the eventual compactness of the semigroup were shown by the resolvent estimates on some resolvent sets. This implies that the spectrum-determined growth assumption holds. Finally, a sufficient condition, which is related to the physical parameters in the system and is independent of the time delay, of the exponential stability of the closed-loop system was given.

scholarly journals Intelligent Swing-Up and Robust Stabilization via Tube-based Nonlinear Model Predictive Control for A Rotational Inverted-Pendulum System

2020 ◽  
Vol 45 (1) ◽  
pp. 49-64
Author(s):  
Alvaro Prado ◽  
Marco Herrera ◽  
Oswaldo Menéndez
Keyword(s):  
Predictive Control ◽  
Nonlinear Model ◽  
Closed Loop ◽  
Inverted Pendulum ◽  
Angular Position ◽  
Loop System ◽  
Invariant Sets ◽  
Closed Loop System ◽  
Pendulum System ◽  
Inverted Pendulum System

The purpose of this paper is to introduce a new robust nonlinear model-based predictive control scheme applied to a rotational inverted-pendulum system. The rotational pendulum is composed by a mechanical arm attached to a free-motion pendulum (orthogonal to the arm), namely Furuta Pendulum. In principle, a Fuzzy controller enables the robotic arm bar to lift the rotational pendulum through oscillatory swing-up motion up to automatically achieve the upper equilibrium position in a prescribed stabilizing operation range. After the pendulum reaches the operating range, an intelligent control bypass system allows the transition between the swing-up motion controller and a robust predictive controller to maintain the angular position of the pendulum around the upward critical position. To achieve robust performance, a centralized control framework combines a triplet of control actions. The first one compensates for disturbances using the regulation trajectory ?feedforward control. The second control action corrects errors produced by modelling mismatch. The third controller assures robustness on the closed-loop system whilst compensating for deviations of the state trajectories from the nominal ones (i.e, disturbance-free). The control strategy provides robust feasibility despite constraints on the arm bar and pendulum's actuators are met. Such constraints are calculated on-line based on robust positively invariant sets characterised by polytopic sets (tubes). The proposed controller is tested in a series of simulations, and experimentally validated on a high-fidelity simulation environment including a rotational inverted-pendulum built for educational purposes. The results show that robust control performance is strengthened against disturbances of the closed-loop system benchmarked to inherently-robust linear and nonlinear predictive controllers.

scholarly journals Closed Loop System Design for Wireless Artificial Pancreas

2018 ◽  
Vol 04 (02) ◽  
Author(s):  
Mohammed El Hadi ◽  
Ragda Mamoun ◽  
Omer Adam ◽  
Emtithal Ahmed
Keyword(s):  
System Design ◽  
Closed Loop ◽  
Artificial Pancreas ◽  
Loop System ◽  
Closed Loop System
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